Hierarchical Task Allocation for Multi-UAVs Based on Resource Welfare and PSO

Multi-UAV (Unmanned Aerial Vehicle, UAV) task allocation is a key issue in the field of unmanned combat commanding and controlling. For the problem of large amounts of task assignment, the article first proposed a task grouping method on the basis of the combination of dependencies between tasks and the ISODATA algorithm. From the perspective of UAV resource load balancing, we proposed a group-leveled coarse-grained task assignment method based on the resource-based welfare theory, combined with PSO, we proposed a fine-grained task allocation algorithm within a group.